Research On Control System Of The Special Vehicle Rescue Manipulator

The special vehicle rescue manipulator with vision master-slave control system can work in uncertain or extreme environment (such as space, seabed, strong radicalizations, battlefield, etc.) The quality of operation is correlation with the ability of getting information (such as vision, etc.) about the slave side. The operator can experience the interaction between the manipulator and the rescued vehicle with feedback of vision system. It can fulfill the complicated and exact manipulation work.The principle of the special vehicle rescue manipulator with vision master-slave control system is that the slave manipulator on spot is controlled by an operator in safe. The operator controls the master hand and the slave hand moves similar to main hand. The relation between them is in certain enlarged proportion in the position. So they are follow-up. There are several video cameras on the slave manipulator. Video frequency system affords pictures to the screen in front of the operator. And it provides vision feedback for the operator. So the system can avoid the operator keep in touch with dangerous environment effectively, and fulfill scheduled work as well. The system used in the special vehicle can ensure the safety of rescuer, improve working efficiency greatly, and economize valuable time.In this paper, we have set up a special vehicle rescue manipulator with vision master-slave control system after analyzing rescue manipulator system with vision feedback in home and abroad. The system comprises master-slave manipulator, electricity hydraulic control subsystem, servo control subsystem, vision feedback subsystem. I also discuss the structure and function of all subsystem.To electricity being servo to control remote characteristic to handle manipulators hydraulic, I go on hydraulic pressure research of the characteristic systematically. I analyze systematically ervo to control algorithms and control strategy hydraulic electricity deeply. At the same time, I have put forward the testing program of position control, and have designed the hardware of control system and the corresponding software carefully according to the control strategy. According to each freedom degree of the slave hand separately, I come and verify the rationality and validities of controller designed through principal and subordinate position control experiment.Combining the theory and experimental study, I summarize the research work that will get innovative achievement when it finished as follows: It has set up a control system of the special vehicle rescue manipulator with vision feedback, whose characteristics are remote-controlled, high precision position control, vision feedback. This system can finish complex tasks in uncertain or extreme environment, and rescue works. 2. After considering actual subjects main hands the requests of operation space, satisfying the function of control system, in view of saving the cost and handle the comfortableness, I have designed main hands by myself.3. I Designed servo to control different types slave hands that has three freedom degree, position controller hydraulics. According to the transmitting function that control system set up, I designed and published corresponding control scheme and control strategy. And through Matlab emulation and shelf test exactly, I fixed the parameter of the controller. I designed the PID tandem correct controller, and have compensated the death district of the proportion valve. At the same time, I made hydraulic pressure jar position control obtain the good trends and static characteristic. Using colored camera, the monitor and communication unit to form the vision feedback system, I have improved approach sense and working efficiency to the scene of operator notably. We have realized all-sided that rescues every function of the manipulator in remote-controlled operation.4. Considering it from the kinematics characteristic of hands, the coordinate one which has been carried on principal and subordinate hands is varied, the system has servo to control al...